Slip suppression control system for vehicle

ABSTRACT

A slip suppression control system for a vehicle includes a monitored value detecting device for detecting a monitored value corresponding to a difference between a rotational speed of a front wheel and a rotational speed of a rear wheel of the vehicle, a threshold determiner unit configured to determine a relationship between the monitored value detected by the monitored value detecting device and a threshold; and a controller configured to initiate traction control for reducing a driving power of a drive wheel when the threshold determiner unit determines that the monitored value exceeds a predetermined start threshold, wherein the threshold determiner unit is configured to count a return time which lapses from when the monitored value exceeds the start threshold until the monitored value becomes smaller than second threshold; and wherein the controller is configured to determine whether or not to terminate the traction control based on the return time.

CROSS REFERENCE TO RELATED APPLICATION

This application claims priority to and the benefit of Japanese PatentApplication No. 2008-166941 filed Jun. 26, 2008, Japanese PatentApplication No. 2009-144997 filed Jun. 18, 2009 and Japanese PatentApplication No. 2009-144996 filed Jun. 18, 2009, the entire disclosureof which are incorporated herein by reference.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a slip suppression control system for avehicle which is configured to control a wheel driving power accordingto a wheel traction state on a road surface.

2. Description of the Related Art

Conventionally, there is proposed a traction controller configured toreduce an engine driving power to restore a drive wheel traction on aroad surface (e.g., see Japanese Laid-Open Patent ApplicationPublication No. Hei 7-103009). This controller uses traction control forretarding an ignition timing of the engine with respect to an optimaltiming to reduce the driving power if an increase rate of an enginespeed exceeds a predetermined start threshold, thus inhibiting a slip.

When a slip occurs in a state where the vehicle is driving on a roadsurface having a low-friction resistance as a whole, the slip continuesfor a relatively long time. On the other hand, when the vehicle isdriving through a small low-friction resistance region on the roadsurface, such as a gap on the road surface or a wet manhole, aninstantaneous slip occurs, but the drive wheel traction on the roadsurface is restored immediately. In that case, if the termination of thetraction control is delayed until a specified programmed terminationcondition is satisfied, drivability may be degraded. That is, in thesituation where the drive wheel is driving through the gap on the roadsurface but the driver does not feel a slip, for example, it isdesirable to terminate the traction control immediately.

SUMMARY OF THE INVENTION

An object of the present invention is to improve drivability of avehicle having a traction control function.

A slip suppression control system for a vehicle of the present inventioncomprises a monitored value detecting device for detecting a monitoredvalue corresponding to a difference between a rotational speed of afront wheel of the vehicle and a rotational speed of a rear wheel of thevehicle; a threshold determiner unit configured to determine arelationship between the monitored value detected by the monitored valuedetecting device and a threshold; and a controller configured toinitiate traction control for reducing a driving power of a drive wheelwhen the threshold determiner unit determines that the monitored valueexceeds a predetermined start threshold; wherein the thresholddeterminer unit is configured to count a return time which lapses fromwhen the monitored value exceeds the start threshold until the monitoredvalue becomes smaller than a second threshold; and wherein thecontroller is configured to determine whether or not to terminate thetraction control based on the return time.

In accordance with the configuration, it is determined whether or not toterminate the traction control based on the return time which lapsesfrom when the monitored value exceeds the start threshold until themonitored value becomes smaller than the second threshold. Therefore, itis possible to quickly terminate the traction control, for example, in acase where an instantaneous slip occurs and the drive wheel traction isrestored immediately after the slip. As a result, drivability of thevehicle having the traction control function can be improved.

The controller may be configured to continue the traction control whenthe return time is a predetermined time or longer and to executetermination control for terminating the traction control when the returntime is shorter than the predetermined time.

In accordance with the configuration, the traction control is continuedin a case where a continuous slip occurs, whereas the traction controlis quickly terminated in a case where an instantaneous slip occurs.Therefore, traction capability and drivability can be suitably madecompatible with each other.

The controller may be configured to execute the termination control suchthat the driving power is gradually increased with lapse of time to bereturned to the driving power in a state where the traction control isnot executed and then the traction control is terminated.

In accordance with the configuration, the driving power can be returnedsmoothly to the one in a normal control state while minimizing afluctuation in the driving speed. Thus, it is possible to avoid thatdriving feel is degraded.

The slip suppression control system for a vehicle may further comprise avehicle speed sensor configured to detect a vehicle body speed; a gearposition sensor configured to detect a transmission gear position of atransmission; and a tilting angle sensor configured to detect a tiltingangle of a vehicle body in a rightward and leftward direction withrespect to a driving direction; wherein the controller is configured toexecute the termination control in a different manner based oninformation detected by at least one of the vehicle speed sensor, thegear position sensor, and the tilting angle sensor.

In accordance with the configuration, the termination control accordingto a driving state of the vehicle can be performed without degradingdriving feel.

The threshold determiner unit may be configured to set a start thresholdwithin a predetermined set time after it is determined that the tractioncontrol should be terminated to a value smaller than a start thresholdat a time other than the set time.

In accordance with the configuration, the traction control is easilyinitiated immediately after the termination control of the tractioncontrol is performed when the return time is shorter than thepredetermined time. Therefore, even if the termination control isperformed mistakenly even though the slip is not an instantaneous slip,the traction control can be resumed quickly.

The second threshold may be substantially equal to the start threshold.

In accordance with the configuration, the return time can be wellmeasured and accuracy of determining whether or not to terminate thetraction control is improved.

The traction control may include a feedback control of the driving powerbased on a determination result of the threshold determiner unit.

In accordance with the configuration, since the driving power isfeedback-controlled so that the monitored value converges to apredetermined threshold, the drive wheel traction on the road surfacecan be suitably restored. It takes some time to converge the feedbackcontrol and to terminate the feedback control. But, in a case where itis determined that an instantaneous slip occurs when the return time isshorter than the predetermined time, the traction control is terminatedirrespective of the control state of the feedback control as describedabove. As a result, good drivability can be maintained.

The slip suppression control system for a vehicle may further comprise agear position sensor configured to detect a transmission gear positionof a transmission; wherein the threshold determiner unit is configuredto set the predetermined time for each transmission gear positiondetected by the gear position sensor.

In accordance with the configuration, it is determined whether or not toterminate the traction control based on the driving state which isdifferent according to the transmission gear position. For example, thepredetermined time may be set to be longer when the transmission gearposition is lower (i.e., gear ratio is higher). Thereby, thepredetermined time is made longer in a transmission gear position atwhich the vehicle body speed is low, and it is determined whether or notto terminate the traction control based on a driving distance in a statewhere the monitored value is large.

The slip suppression control system for a vehicle may further comprise avehicle speed sensor configured to detect a vehicle body speed; whereinthe threshold determiner unit is configured to set the predeterminedtime for each vehicle body speed detected by the vehicle speed sensor.

In accordance with the configuration, it is determined whether or not toterminate the traction control based on the vehicle body speed. Forexample, the predetermined time may be set longer as the vehicle bodyspeed decreases. Thus, it is determined whether or not to terminate thetraction control based on a driving distance in a state where themonitored value is large. Alternatively, the return time may bemultiplied by the vehicle body speed to obtain a calculation value(i.e., driving distance), and the traction control may be terminatedwhen the calculation value is smaller than a predetermined value.

The slip suppression control system for a vehicle may further comprise avehicle speed sensor configured to detect a vehicle body speed; and agear position sensor configured to detect a transmission gear positionof a transmission; wherein the threshold determiner unit may beconfigured to change the start threshold according to informationdetected by the vehicle speed sensor and the gear position sensor.

In accordance with the configuration, the start threshold of thetraction control is changed according to the vehicle body speed and thetransmission gear position, the start condition for the traction controlcan be set according to the driving state of the vehicle. Therefore,drivability of the vehicle having the traction control function can beimproved.

The threshold determiner unit may contain a threshold map used fordetermining the start threshold according to the vehicle body speed andthe transmission gear position; and the threshold map may be set so thatthe start threshold gradually increases up to a peak and then graduallydecreases as the vehicle body speed increases.

In accordance with the configuration, in a state where the vehicle bodyspeed is in a low speed range and in a high speed range with respect tothe peak value, the start threshold is small and the traction control iseasily initiated, while in a state where the vehicle body speed is nearthe peak value (in a medium speed range), the start threshold is largeand the traction control is not easily initiated. When the vehicle bodyis tilted (banked) to the right or to the left, the vehicle drives usingthe medium speed range substantially except for the low speed range andthe high speed range. Further, a characteristic of tire traction is, inthe state where the vehicle body is tilted, there is a tendency that adifference exists between the rotational speed of the front wheel andthe rotational speed of the rear wheel and the monitored value is large,even though no slip occurs actually. By setting the start thresholdlarger in the state where the vehicle body speed is near the peak value(in the medium speed range), it is possible to inhibit the tractioncontrol from being initiated regardless of the fact that there is noslip in the state where the vehicle body is tilted.

The threshold map may be set so that a vehicle body speed forming a peakin a predetermined first transmission gear position is lower than avehicle body speed forming a peak in a transmission gear position higherthan the first transmission gear position.

In general, the vehicle speed at which a torque peak is generated in alower transmission gear position is lower than a vehicle speed at whicha torque peak is generated in a higher transmission gear position.Therefore, in accordance with the configuration, the traction control isnot easily initiated when the torque is large. Thus, it is possible tosuitably inhibit that the traction control is initiated in a state whereno slip occurs. As used herein, the phrase “the transmission gearposition is high” means that the reduction gear ratio is low.

The threshold map may be set so that a peak value of the start thresholdcorresponding to a first gear of the transmission gear position islarger than a peak value of the start threshold corresponding to anothergear.

Typically, the torque is larger in a first gear. Therefore, inaccordance with the configuration, the traction control is not easilyinitiated when the torque is large. Thus, it is possible to suitablyinhibit that the traction control is initiated in a state where no slipoccurs.

An engine driving power may be set for each transmission gear position.In the threshold map, a vehicle body speed forming the peak may be setfor each transmission gear position and may be equal to or close to avehicle body speed at which the engine driving power has a maximumvalue.

In accordance with the configuration, in the threshold map, the vehiclebody speed at which the start threshold is a peak is set substantiallyequal to the vehicle body speed at which the engine driving power has amaximum value. Therefore, the start condition for the traction controlis determined according to the engine property. Thus, it is possible tosuitably inhibit that the traction control is initiated in a state whereno slip occurs, when the engine driving power is great.

The threshold determiner unit may contain a threshold map used fordetermining the start threshold according to the vehicle body speed andthe transmission gear position; and the threshold map may be set so thatthe start threshold is larger in a lower transmission gear position thanin a higher transmission gear position in a predetermined first vehiclespeed range, while the start threshold is larger in a highertransmission gear position than in a lower transmission gear position ina vehicle speed range higher than the first vehicle speed range.

Typically, there is a tendency that the torque is large in a lowertransmission gear position when the vehicle speed is low, and in ahigher transmission gear position when the vehicle speed is high. Inaccordance with the configuration, the start threshold is set largerwhen the torque is higher. Thus, it is possible to inhibit an event thatthe traction control is initiated inadvertently in an unnecessarysituation.

The slip suppression control system for a vehicle may further comprise atilting angle sensor configured to detect a tilting angle of a vehiclebody in a rightward and leftward direction with respect to a drivingdirection. The threshold determiner unit may be configured to change thestart threshold according to information detected by the tilting anglesensor.

In accordance with the configuration, the start threshold changesaccording to the tilting angle (bank angle) of the vehicle body in therightward and leftward direction with respect to the driving direction.Therefore, the start condition for the traction control can be setaccording to the driving state. For example, when the bank angle of thevehicle body is large, the start threshold may be set larger so that thetraction control is not easily initiated, whereas when the bank angle ofthe vehicle body is small, the start threshold may be set smaller sothat the traction control is easily initiated.

The threshold determiner unit may be configured not to change the startthreshold when the speed detected by the vehicle speed sensor is apredetermined value or smaller and to change the start threshold whenthe vehicle speed exceeds the predetermined value.

In accordance with the configuration, the start condition for thetraction control can be fixed when the vehicle speed is low, forexample, the vehicle is starting, and can be changed suitably when thevehicle is driving at a higher vehicle speed after the starting.

The above and further objects and features of the invention will morefully be apparent from the following detailed description with referenceto accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a left side view of a motorcycle having a slip suppressionfunction according to Embodiment 1 of the present invention.

FIG. 2 is a block diagram showing an entire slip suppression controlsystem built into the motorcycle of FIG. 1.

FIG. 3 is a block diagram of major components, chiefly showing an engineECU of the slip suppression control system of FIG. 2.

FIG. 4 is a flowchart showing a main process of the engine ECU of FIG.3.

FIG. 5 is a flowchart of an initial traction control process of FIG. 4.

FIG. 6 is a flowchart of a front half part of a continued tractioncontrol process of FIG. 4.

FIG. 7 is a flowchart of a rear half part of the continued tractioncontrol process of FIG. 4.

FIG. 8 is a graph and timing chart showing the initial traction controland the continued traction control in a case where a continuous slipoccurs.

FIG. 9 is a map used for determining a first slip threshold shown inFIG. 8.

FIG. 10 is a graph showing the relationship between a vehicle bodytilting angle and a monitored value.

FIG. 11 is a compensation map used for compensating the first slipthreshold shown in FIG. 8.

FIG. 12 is a graph and timing chart showing modification for inhibitingovershoot.

FIG. 13 is a graph and timing chart showing the initial traction controland the continued traction control in a case where an instantaneous slipoccurs.

FIG. 14 is a flowchart of a starting control process of FIG. 4.

FIG. 15 is a graph and timing chart showing the starting controlprocess.

FIG. 16 is a flowchart showing a forcible termination control process ofFIG. 4.

FIG. 17 is a graph and timing chart showing the forcible terminationcontrol process.

FIG. 18 is a flowchart of a catalyst protection control process of FIG.4.

FIG. 19 is a graph showing the catalyst protection control process.

FIG. 20 is a flowchart of a switch-off control process.

FIG. 21 is a flowchart of a switch-off control process according toEmbodiment 2 of the present invention.

FIG. 22 is a flowchart of a switch control process according toEmbodiment 3 of the present invention.

FIG. 23 is a flowchart of an initial traction control process accordingto Embodiment 4 of the present invention.

FIG. 24 is a graph and timing chart showing the initial traction controlin a case where an instantaneous slip occurs.

FIG. 25 is a graph and timing chart showing the initial traction controland the continued traction control in a case where a continuous slipoccurs.

FIG. 26 is an ignition timing base amount map used for determining aretard angle amount in the initial traction control shown in FIGS. 24and 25.

FIG. 27 is a threshold map used for determining the first slip thresholdshown in FIGS. 24 and 25.

FIG. 28 is a graph and timing chart of a forcible termination controlprocess in a state where an engine speed is slow according to Embodiment5 of the present invention.

FIG. 29 is a graph and timing chart of the forcible termination controlprocess in a state where an engine speed is high according to Embodiment5 of the present invention.

FIG. 30 is a flowchart of an initial traction control process accordingto Embodiment 6 of the present invention.

FIG. 31 is a flowchart of a continued traction control process accordingto Embodiment 6 of the present invention.

FIG. 32 is a graph and timing chart showing a control process shown inFIGS. 30 and 31.

FIG. 33 is a three-dimensional map used for determining a second slipthreshold.

FIG. 34 is an ignition timing lower limit value map used for determiningthe lower limit value of the ignition timing.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Hereinafter, embodiments of the present invention will be described withreference to the drawings. As used hereinafter, the direction isreferenced from the perspective of a driver mounting a motorcycle.

(Embodiment 1)

FIG. 1 is a left side view of a motorcycle 1 having a slip suppressionfunction according to Embodiment 1 of the present invention. As shown inFIG. 1, the motorcycle 1 (vehicle) includes a front wheel 2 and a rearwheel 3 which roll on a road surface R. The rear wheel 3 is a drivewheel and the front wheel 2 is a driven wheel. The front wheel 2 isrotatably mounted to a lower end portion of a front fork 4 extendingsubstantially vertically. The front fork 4 is mounted to a steeringshaft (not shown) via an upper bracket (not shown) provided at the upperend portion thereof and an under bracket (not shown) provided under theupper bracket. The steering shaft is rotatably supported by a head pipe5. A bar-type handle 6 extending rightward and leftward is mounted tothe upper bracket.

A throttle grip 7 (see FIG. 2) of the handle 6 which is gripped by thedriver's right hand is a throttle input device which is rotated by agripping operation of the driver's wrist to operate a throttle device 16as described later. A clutch lever 8 (clutch input device) is providedin front of a grip of the handle 6 which is gripped by the driver's lefthand. The driver rotates the handle 6 to turn the front wheel 2 to adesired direction around the steering shaft which is a rotational shaft.

A pair of main frame members 9 extend rearward from the head pipe 5 suchthat the main frame members 9 are tilted slightly downward. A pair ofpivot frame members 10 are respectively coupled to the rear portions ofthe main frame members 9. A swing arm 11 is pivotally mounted at a frontend portion thereof to each pivot frame 10 so as to extend substantiallyforward and rearward. The rear wheel 3 is rotatably mounted to the rearend portions of the swing arms 11. A fuel tank 12 is provided behind thehandle 6. A seat 13 which is straddled by the driver is provided behindthe fuel tank 12.

An inline four-cylinder engine E is disposed between the front wheel 2and the rear wheel 3 such that the engine E is supported by the mainframe members 9 and the pivot frame members 10. A transmission 14 iscoupled to the engine E. A driving power output from the transmission 14is transmitted to the rear wheel 3 via a chain 15. A throttle device 16is disposed inside the main frame members 9 and is coupled to an intakeport (not shown) of the engine E. An air cleaner 19 is disposed belowthe fuel tank 12 and is coupled to an upstream side of the throttledevice 16. In an inner space below the seat 13, an engine ECU 17(electronic control unit) which is an engine controller configured tocontrol the throttle device 16, an igniter 26 (see FIG. 2), a fuelinjector, etc., are accommodated.

FIG. 2 is a block diagram showing an entire slip suppression controlsystem 18 built into the motorcycle 1 of FIG. 1. As shown in FIG. 2, theslip suppression control system 18 includes the throttle device 16provided between the air cleaner 19 and the engine E. The throttledevice 16 includes an air-intake pipe 20, a main throttle valve 21disposed at a downstream portion of the air-intake pipe 20, and asub-throttle valve 22 disposed at an upstream portion of the air-intakepipe 20. The main throttle valve 21 is coupled to the throttle grip 7via a throttle wire 23. The main throttle valve 21 is configured to openand close in association with the driver's operation of the throttlegrip 7. A throttle valve position sensor 25 (throttle valve openingdegree sensor) is attached on the main throttle valve 21 to detect theopening degree of the main throttle valve 21. Since the main throttlevalve 21 is mechanically operable in association with the throttle grip7, the throttle valve position sensor 25 serves as a throttle operationamount detecting device which is capable of indirectly detecting theopening degree of the throttle grip 7.

The sub-throttle valve 22 is coupled to a valve actuator 24 constitutedby a motor controlled by the engine ECU 17. The sub-throttle valve 22 isdriven by the valve actuator 24 to open and close. An injector 31 isprovided in the throttle device 16 to inject a fuel to an air-intakepassage. The engine E is provided with an igniter 26 for igniting anair-fuel mixture inside four cylinders thereof. A transmission 14 iscoupled to the engine E to change a speed of the driving power andtransmit it to the rear wheel 3. The transmission 14 is provided with aclutch 27 for enabling/disenabling transmission of the driving power.

The clutch 27 is configured to disenable the transmission of the drivingpower by the driver's squeezing operation of the clutch lever 8. Theclutch lever 8 is provided with a clutch switch 28 (clutch detectingdevice) which is capable of detecting whether or not the driver issqueezing the clutch lever 8. The transmission 14 is provided with agear position sensor 29 for detecting a transmission gear position.

The slip suppression control system 18 includes an ECU 33 for CBS foruse with a known combined brake system. A front wheel vehicle speedsensor 34 for detecting a vehicle speed from a rotational speed of thefront wheel 2 and a rear wheel vehicle speed sensor 35 for detecting avehicle speed from the rotational speed of the rear wheel 3 arerespectively coupled to the ECU 33 for CBS. In addition, a front wheelbrake actuator 37 for activating the front wheel brake 36 and a rearwheel brake actuator 39 for activating the rear wheel brake 38 arerespectively coupled to the ECU 33 for CBS.

The slip suppression control system 18 further includes a tilting anglesensor 32 for detecting a tilting angle of the vehicle body of themotorcycle 1 in a rightward and leftward direction with respect to adriving direction. The slip suppression control system 18 furtherincludes a traction control ON/OFF switch 40 (ON/OFF input device) withwhich the driver manually turns ON/OFF a traction control function asdescribed later. That is, the traction control ON/OFF switch 40 is aswitch for switching between a permission state in which the tractioncontrol is enabled and an inhibiting state in which the traction controlis disenabled. The traction control ON/OFF switch 40 is provided at aleft end portion of the handle 6 and positioned at an opposite side ofthe throttle grip 7 provided at a right side portion of the handle 6 inthe width direction of the vehicle body such that the traction controlON/OFF switch 40 is distant from the throttle grip 7.

The traction control ON/OFF switch 40 may be configured to be pressed bya press button for a long time to generate an ON/OFF input command. Tobe more specific, the traction control ON/OFF switch 40 may beconfigured to generate the ON/OFF command only when the press time (timethat lapses from when the switch 40 starts to be pressed until it isreleased) falls within a predetermined time range (e.g., 1 to 3 seconds)in which an upper limit value and a lower limit value are set. This isbecause it may be presumed that something inadvertently touches theswitch 40 if the press time is shorter than the predetermined timerange, while something inadvertently continues to touch the switch 40 ifthe press time is longer than the predetermined time range.

If the ON/OFF input command has been generated and a first conditionincluding a condition that the traction control is being executed is notsatisfied, a traction state (permission state or inhibiting state)before generation of the ON/OFF input command is switched. For example,if the traction state is the permission state before generation of theON/OFF input command, it is switched to the inhibiting state, whereas ifthe traction state is the inhibiting state before generation of theON/OFF input command, it is switched to the permission state. A displaydevice 49 described later changes a display configuration according tothe traction state. This enables the driver to check the display stateto check a current traction state.

The throttle valve position sensor 25, the clutch switch 28, the gearposition sensor 29, the engine speed sensor 30, the tilting angle sensor32, the ECU 33 for CBS, the traction control ON/OFF switch 40, and thedisplay device 49 are respectively coupled to the ECU 17. The ECU 17includes at a traction control function unit 41, an ignition controlunit 42, a fuel control unit 48, a throttle valve control unit 43, and abrake control unit 44. As described later, the traction control functionunit 41 performs calculation relating to the traction control based onthe signals received as inputs from the sensors 25, 29, 30, 32, 33, and40 and the switches 28 and 40. The traction control function unit 41outputs to the display device 49, which is an LED lamp, etc., a signalto display a control state to the driver. The ignition control unit 42controls the igniter 26 based on a calculation result of the tractioncontrol function unit 41. The fuel control unit 48 controls the injector31 based on the calculation result of the traction control function unit41. The throttle valve control unit 43 drives the valve actuator 24based on the calculation result of the traction control function unit 41to control the opening degree of the sub-throttle valve 22. The brakecontrol unit 44 outputs a brake activation signal to the ECU 33 for CBSbased on the calculation result of the traction control function unit41.

FIG. 3 is a block diagram of major components, chiefly showing theengine ECU 17 of the slip suppression control system 18 of FIG. 3. Asshown in FIG. 3, the engine ECU 17 includes the traction controlfunction unit 41, the ignition control unit 42, the fuel control unit48, the throttle valve control unit 43 and the brake control unit 44, asdescribed above. The traction control function unit 41 includes amonitored value calculating unit 45, a threshold determiner unit 46 anda traction control unit 47. The monitored value calculating unit 45successively calculates as a monitored value M a slip rate which is avalue corresponding to the difference between the rotational speed ofthe front wheel 2 and the rotational speed of the rear wheel 3, based onthe information received from the ECU 33 for CBS. To be specific, whenthe front wheel vehicle speed (circumferential velocity) obtained fromthe front wheel rotational speed by the front wheel vehicle speed sensor34 is V_(F) and the rear wheel vehicle speed (circumferential velocity)obtained from the rear wheel rotational speed by the rear wheel vehiclespeed sensor 35 is V_(R), the monitored value M is calculated accordingto a formula 1 as follows:M=(V _(R) −V _(F))/V _(F)  [Formula 1]

A monitored value detecting device for detecting the monitored value Mis constituted by the front wheel vehicle speed sensor 34, the rearwheel vehicle speed sensor 35, the ECU 33 for CBS and the monitoredvalue calculating unit 45. Whereas the slip rate is used as themonitored value M, the monitored value M is not limited to the value ofthe formula 1 but may be a value which changes according to a differencebetween the rotational speed of the front wheel and the rotational speedof the rear wheel. For example, the monitored value M may be a vehiclespeed difference (V_(R)−V_(F)) between the front wheel and the rearwheel, a rotational speed difference between the front wheel and therear wheel, or an absolute value obtained by dividing the differencebetween the rotational speed of the front wheel and the rotational speedof the rear wheel by the rotational speed of the front wheel.

The threshold determiner unit 46 determines that the rear wheel 3 hasslipped on the road surface R if the monitored value M exceeds a firstslip threshold M₁. The threshold determiner unit 46 determines thatinitial traction control should transition to continued traction controlif the monitored value M becomes smaller than a second slip threshold M₂(switching threshold). The threshold determiner unit 46 determines thatthe rear wheel 3 has gripped the road surface R if the monitored value Mbecomes smaller than the second slip threshold M₂ (gripping threshold).The second slip threshold M₂ is a value smaller than the first slipthreshold M₁. The threshold determiner unit 46 determines that the rearwheel 3 has slipped on the road surface R if the monitored value Mexceeds the second slip threshold M₂. The threshold determiner unit 46determines that the rear wheel 3 has slipped on the road surface Rduring starting if the monitored value M exceeds a starting slipthreshold M_(ST). The starting slip threshold M_(ST) is a value smallerthan the first slip threshold M₁ and larger than the second slipthreshold M₂. The threshold determiner unit 46 determines that a brakeoperation should be deactivated as described later if the monitoredvalue M becomes smaller than a brake deactivation threshold M_(B). Thebrake deactivation threshold M_(B) is a value smaller than the firstslip threshold M₁, larger than the second slip threshold M₂ and largerthan the starting slip threshold M_(ST).

Whereas in this embodiment, the second slip threshold M₂ is also used asthe gripping threshold, a value smaller than the second slip thresholdM₂ may be set as the gripping threshold separately from the secondthreshold M₂. In addition, whereas in this embodiment, the second slipthreshold M₂ is also used as the switching threshold, a value which issmaller than the first slip threshold M₁ and larger than the second slipthreshold M₂ may be set as the switching threshold separately from thesecond threshold M₂.

As used herein, the term “slip” refers to a state where the rear wheel 3moves a predetermined amount or larger with respect to the road surfaceR and is spinning in a contact region where the rear wheel 3 and theroad surface R are in contact. Also, as used herein, the term “traction”refers to a state where the rear wheel 3 moves a predetermined amount orsmaller with respect to the road surface R and the rear wheel 3 isgripping the road surface R. If a difference generated between therotational speed of the front wheel 2 and the rotational speed of therear wheel 3 is small, the rear wheel 3 is in a traction state.

As described later, the traction control unit 47 uses the tractioncontrol including the initial traction control for reducing a drivingpower of the rear wheel 3 and the continued traction control whichcontinuously follows the initial traction control, based on adetermination result of the determiner unit 46. To be specific, thetraction control unit 47 controls the igniter 26, the injector 31, thevalve actuator 24 and the rear wheel brake actuator 39 based on thedetermination result of the determiner unit 46, to determine a retardangle amount of ignition timing, a fuel injection amount, a reductionamount of air-intake and the operation of the rear wheel brake 38,respectively. The ignition control unit 42 controls the igniter 26 inaccordance with a command from the traction control unit 47, the fuelcontrol unit 48 controls the injector 31 in accordance with a commandfrom the traction control unit 47, the throttle valve control unit 43controls the valve actuator 24 in accordance with a command from thetraction control unit 47, and the brake control unit 44 controls therear wheel brake 38 in accordance with a command from the tractioncontrol unit 47.

Subsequently, the traction control will be described in detail. FIG. 4is a flowchart showing a main process of the engine ECU 17 of FIG. 3. Asshown in FIGS. 3 and 4, when a main electric power supply (not shown) ofthe motorcycle 1 is turned ON, the engine ECU 17 initiates normalcontrol in which the traction control described later is not executed(step S1). Then, the engine ECU 17 determines whether or not thetraction control ON/OFF switch 40 is in an ON-state (step S2). If it isdetermined that the switch 40 is in an OFF-state, the normal control iscontinued. If it is determined that the switch 40 is in an ON-state, itis determined if the front wheel vehicle speed V_(F) received from theECU 33 for CBS exceeds the front wheel vehicle speed threshold V_(T)(see FIG. 6) (step S3). The front wheel vehicle speed threshold V_(T)is, for example, a value which is 0<V_(T) (km/h) <10. If it isdetermined that the front wheel vehicle speed V_(F) does not exceed thefront wheel vehicle speed threshold V_(T), it is determined that themotorcycle 1 is in a state before starting and the starting controlprocess is executed as described later (step S4).

If it is determined that the front wheel vehicle speed V_(F) exceeds thefront wheel vehicle speed threshold V_(T), the threshold determiner unit46 (FIG. 3) of the engine ECU 17 determines whether or not the monitoredvalue M exceeds the first slip threshold M₁ (step S5). That is, in stepS5, the threshold determiner unit 46 determines whether or not the startcondition for the traction condition is satisfied. The first slipthreshold M₁ is set to a value which is larger than the second slipthreshold M₂ as described later to prevent wrong detection by the ECU 17that the rear wheel 3 is slipping even though the rear wheel 3 isgripping the road surface R normally without spinning. For example, thefirst slip threshold M₁ is set to a value which is not smaller thantwice as large as the second slip threshold M₂ and is not larger thanten times as large as the second slip threshold M₂. The first slipthreshold M₁ will be described in detail later.

If it is determined that the monitored value M does not exceed the firstslip threshold M₁ in step S5, the process returns to step S3. On theother hand, if it is determined that the monitored value M exceeds thefirst slip threshold M₁, the initial traction control process isexecuted (step S6) and then the continued traction control process isexecuted (step S7) as the traction control. A forcible terminationcontrol process (step S8) and a catalyst protection control process(step S9) will be described later.

FIG. 5 is a flowchart of the initial traction control process of FIG. 4.FIG. 8 is a graph and timing chart showing the initial traction controland the continued traction control in a case where a continuous slipoccurs. As shown in FIG. 8, when the monitored value M exceeds the firstslip threshold M₁, the traction control unit 47 performs the control asdescribed below to initiate the initial traction control process toreduce the driving power of the rear wheel 3.

As shown in FIGS. 5 and 8, in the initial traction control process,initially, a driving power reducing control is executed (step S10). Tobe specific, the traction control unit 47 causes the ignition controlunit 42 to command the igniter 26 to execute ignition retard control.The ignition retard control is control for retarding an ignition timingby a certain angle amount. Simultaneously, the traction control unit 47causes the throttle valve control unit 43 to command the valve actuator24 to bring the sub-throttle valve 22 to a substantially fully closedopening degree corresponding to an idling opening degree so that anair-intake amount is reduced (in a sub-throttle valve opening degreegraph of FIG. 8, solid lines indicate command values and one-dottedlines indicate actual opening degrees. Hereinafter, in othersub-throttle valve opening degree graphs, the solid lines indicate thecommand values in the same manner). Simultaneously, the traction controlunit 47 causes the brake control unit 44 to command the ECU 33 for CBSto activate the rear wheel brake 38.

A reduction amount of the driving power in the case where the monitoredvalue M exceeds the first slip threshold M₁ in the initial tractioncontrol is set larger than a reduction amount of the driving power inthe case where the monitored value M exceeds the second slip thresholdM₂ in the continued traction control as described later. This makes itpossible to restore the traction in a short time at the time point of afirst detection of a slip and to suppress that the driving power isreduced excessively for a longer time under the situation where the slipis occurring continuously.

Then, it is determined whether or not the monitored value M is smallerthan the brake deactivation threshold M_(B) which is a driving powerreduction suppression threshold (step S11). If it is determined that themonitored value M_(B) is not smaller than the brake deactivationthreshold M_(B), step S11 is repeated. If it is determined that themonitored value M becomes smaller than the brake deactivation thresholdM_(B), a driving power reduction suppression control is executed (stepS12). To be specific, the rear wheel brake 38 is deactivated. Then, itis determined whether or not the monitored value M is smaller than thesecond slip threshold M₂ (step S13). As the threshold used in step S13,a switching threshold which is larger than the second slip threshold M₂and smaller than the first slip threshold M₁ may be set, separately fromthe second slip threshold M₂.

If it is determined that the monitored value M is not smaller than thesecond slip threshold M₂, step S13 is repeated and the initial tractioncontrol is controlled. If it is determined that the monitored value Mbecomes smaller than the second slip threshold M₂, the initial tractioncontrol process is terminated and the process returns to the mainprocess of FIG. 4. Thus, the initial traction control processtransitions to the continued traction control process (step S7).

FIG. 6 is a flowchart of a front half part of the continued tractioncontrol process of FIG. 4. FIG. 7 is a flowchart of a rear half part ofthe continued traction control process of FIG. 4. As shown in FIG. 8, inthe continued traction control process, ignition timing feedback controlis used so that the monitored value M is closer to the second slipthreshold M₂. That is, the feedback control is performed supposing thatthe second slip threshold M₂ is a target value of the monitored value M.

To be specific, as shown in FIGS. 6 and 8, initially, in order toincrease the driving power of the rear wheel 3, the ignition timing isput forward by a predetermined angle amount to make the control statecloser to the normal control state (step S20). The aforesaidpredetermined angle amount may be a certain width or may be a valuewhich is variable according to a deviation between the monitored value Mand the second slip threshold M₂. If the ignition retard angle amountbecomes equal to the one in the normal control state, the associatedignition timing is maintained.

It is determined whether or not the monitored value M exceeds the secondslip threshold M₂ (step S21). If it is determined that the monitoredvalue M does not exceed the second slip threshold M₂, it is determinedwhether or not a restoration condition that a match time when theignition timing is equal to the ignition timing in the normal controlstate is a predetermined restoration determination time T₁ or longer issatisfied (step S27). If it is determined that the match time is shorterthan the restoration determination time T₁, the process returns to stepS20 to put forward the ignition timing by a predetermined angle amount.On the other hand, if it is determined the monitored value M exceeds thesecond slip threshold M₂ in step S21, the ignition timing is retarded bya predetermined angle amount to reduce the driving power of the rearwheel 3 (step S22).

After step S22, it is determined whether or not the monitored value Mexceeds an overshoot threshold M_(o) (step S23). If it is determinedthat the monitored value M is smaller than the overshoot threshold M_(o)in step S23, the process returns to step S21 and the ignition timingfeedback control is continued. That is, for example, in a case where therear wheel 3 is slipping continuously on the road surface R in theignition timing feedback control, the ignition timing is put forward(step S20) or retarded (step S22) repetitively little by little and isgradually close to the ignition timing in the normal control state.

On the other hand, if it is determined that the monitored value Mexceeds the overshoot threshold M₀, the ignition timing feedback controlis interrupted, and the ignition timing is set to an overshoot retardangle value which is retarded by an amount which is larger than theretard angle amount in step S22 (step S24). This is done to reduce thedriving power with a larger width than a reduction width of the drivingpower which is reduced when the ignition timing is retarded by thepredetermined angle amount in step S22. The ignition timing in step S24is maintained as long as the monitored value M continues to exceed theovershoot threshold M_(o) (step S25).

Then, if it is determined that the monitored value M becomes smallerthan the overshoot threshold M_(o) (step S25), the interrupted ignitiontiming feed back control is resumed (step S26), and the process returnsto step S21. The initial value of the ignition timing at the time ofresuming of the ignition feedback control is set to an ignition timingimmediately before the time point when it is determined as YES inprevious step S23.

If it is determined that the monitored value M is smaller than thesecond slip threshold M₂ in step S21, it is determined whether or notthe restoration condition that the match time when the ignition timingis equal to the ignition timing in the normal control state is thepredetermined restoration determination time T₁ or longer is satisfied(step S27). If it is determined that the match time is the predeterminedrestoration determination time T₁ or longer, the ignition timingfeedback control is terminated and the ignition timing reaches the onein the normal control state (step S28).

Then, as shown in FIG. 7, the sub-throttle valve feedback control isexecuted. To be specific, initially, the sub-throttle valve openingdegree is increased by a predetermined amount to be closer to asub-throttle valve opening degree in the normal control state (stepS29). Then, it is determined whether or not the monitored value Mexceeds the second slip threshold M₂ (step S30). If it is determinedthat the monitored value M exceeds the second slip threshold M₂, thesub-throttle valve opening degree is decreased (step S31) and theprocess returns to step S30. If it is determined that the monitoredvalue M does not exceed the second slip threshold M₂, it is determinedwhether or not the time when the sub-throttle valve opening degreebecomes larger than an opening degree in a substantially normal controlstate, to be precise, an opening degree obtained by adding a slightopening degree to the opening degree in the normal control state, is therestoration determination time T₁ or longer (step S32).

The reason why the opening degree is added is to prevent that thetermination condition of the control is satisfied when the sub-throttlevalve opening degree reaches a fully closed opening degree even thoughthe sub-throttle feedback control should be continued, in a state wherethe sub-throttle valve opening degree is the fully closed opening degree(e.g., during a low engine speed state) under the normal control.

If it is determined that the sub-throttle valve opening degree issmaller than the opening degree obtained by adding the opening degree tothe opening degree in the normal control state, the process returns tostep S29, and the sub-throttle valve is opened by a predetermined amountso that the opening degree is closer to the opening degree in the normalcontrol state. If it is determined that the time when the sub-throttlevalve opening degree is larger than the opening degree obtained byadding the opening degree to the opening degree in the normal controlstate reaches the restoration determination time T1 or longer, then itis determined that the restoration condition is satisfied and thesub-throttle valve feedback control is terminated. The sub-throttlevalve opening degree is caused to be the one in the normal control state(step S33) and the process returns to the main process of FIG. 4. Thus,the driving power of the rear wheel 3 returns to the driving power inthe normal control state where the traction control is not executed.

The driving power of the rear wheel 3 is reduced in the traction controlin such a manner that the brake is activated, the ignition is retardedand the throttle valve opening degree is decreased in this order. Thisis because the responsiveness to reduction of the driving powerdecreases in this order, and at a first detection of a slip, thetraction can be restored with higher responsiveness, making it possibleto suppress an excess reduction of the driving power for a long timeperiod. In addition, the driving power is controlled in a stepwisemanner in such a manner that a first driving power reducing devicecorresponding to the brake, a second driving power reducing device forretarding ignition and a third driving power reducing devicecorresponding to the sub-throttle valve are started in this order andstopped in this order. Therefore, the driving power can be reducedsmoothly and good drivability is maintained.

Whereas in this embodiment, as the engine driving power control forincreasing and reducing the power of the engine E, the ignition retardcontrol and the air-intake amount control are used. In a case where theengine has plural cylinders, ignition corresponding to a part of theplural cylinders of the engine may be caused to pause, thereby reducingthe engine driving power. Alternatively, the engine driving power may bereduced by causing ignition of the cylinders of the engine to pauseintermittently. In a further alternative, the engine driving power maybe controlled by controlling a fuel injection amount.

FIG. 9 is a map used for determining the first slip threshold M₁ shownin FIG. 8. As shown in FIG. 9, the first slip threshold M₁ is set so asto decrease as the transmission gear position detected by the gearposition sensor 29 is higher, i.e., a reduction gear ratio is lower. Themap may contain a setting configured such that the first slip thresholdM₁ corresponding to at least a certain transmission gear position issmaller than the first slip threshold M₁ corresponding to a transmissiongear position lower than the certain transmission gear position. Forexample, the map may contain a setting configured such that the firstslip threshold M₁ corresponding to a 2nd gear is smaller than the firstslip threshold M₁ corresponding to a 1st gear and is equal to the firstslip threshold M₁ corresponding to a 3rd gear.

The first slip threshold M₁ is set so as to decrease as the drivingspeed or the engine speed of the motorcycle 1 increases. Since the frontwheel 2 is a driven wheel, it may be assumed that the driving speed ofthe motorcycle 1 is equal to the front wheel vehicle speed V_(F)obtained from the ECU 33 for CBS. The map may contain a settingconfigured such that at least the first slip threshold M₁ correspondingto a certain driving speed or a certain engine speed is smaller thefirst slip threshold M₁ corresponding to a driving speed or an enginespeed which is lower than the certain driving speed or the certainengine speed. For example, the map may contain a setting configured suchthat the first slip threshold M₁ corresponding to an engine speed of4000 rpm is smaller than the first slip threshold M₁ corresponding to anengine speed of 1000 rpm and equal to the first slip threshold M₁corresponding to an engine speed of 6000 rpm. Instead of the map, thefirst slip threshold M₁ may be set using a calculation formula. Thesecond slip threshold M₂ may be changed according to driving conditionssuch as the transmission gear position, the driving speed, or the enginespeed, as in the first slip threshold M₁.

Furthermore, at least one of the first slip threshold M₁ and the secondslip threshold M₂ may be changed according to the throttle valve openingdegree detected by the throttle valve position sensor 25, i.e., theamount of throttle operation performed by the driver. For example, thesecond slip threshold M₂ may be set so as to increase as the amount ofoperation for opening the throttle valve increases. In this case, theamount of throttle operation may correspond to one at the initiation ofthe traction control or one during the traction control.

FIG. 10 is a graph showing the relationship between a vehicle bodytilting angle θ and the monitored value M. FIG. 11 is a compensation mapfor compensating the first slip threshold M₁ shown in FIG. 10. In ahorizontal axis of FIG. 10, a right region indicates that a vehicle bodyis tilted to a right side, and a left region indicates that a vehiclebody is tilted to a left side. The tilting angles θ in the right regionand the left region are expressed as positive values. As can be seenfrom FIG. 10, the monitored value M in the case where the rear wheel 3starts to slip on the road surface R tends to increase as the tiltingangle θ increases in a region where the right and left tilting angles θof the vehicle body with respect to the driving direction ispredetermined angle θ₁ or larger (e.g., 10 degrees or larger). That is,when the motorcycle 1 is driving in a state where the vehicle body istilted, there is a tendency that a difference between the front wheelvehicle speed V_(F) and the rear wheel vehicle speed V_(R) is large,even though the rear wheel 3 is gripping the road surface R. In astraight-ahead driving state which is a region where the tilting angle θis smaller than the predetermined angle θ₁ (e.g., smaller than 10degrees), the monitored value M with which it is considered that theslip starts is set greater, to allow greater acceleration. To this end,a compensation coefficient C shown in FIG. 10 is used. The compensationcoefficient C is set so as to increase as the tilting angle θ detectedby the tilting angle sensor 32 increases in the region where the tiltingangle θ is the predetermined angle θ₁ or larger (e.g., 10 degrees orlarger). In addition, the compensation coefficient C is set so as toincrease as the tilting angle θ decreases in a region where the tiltingangle θ is smaller than the predetermined angle θ₁ (e.g., smaller than10 degrees).

In this embodiment, the first slip threshold M₁ is obtained bymultiplying the value set in the map of FIG. 9 by the compensationcoefficient C. Therefore, the first slip threshold M₁ is set so as toincrease as the tilting angle θ increases. As in the first slipthreshold M₁, the second slip threshold M₂ (gripping threshold) may beset so as to increase as the vehicle body tilting angle θ increases. Adetermination method of the first slip threshold M₁ and the second slipthreshold M₂ is merely exemplary and may be constant irrespective of thespeed, the gear ratio, or the tilting angle.

Whereas one overshoot threshold M_(o) is provided in the example shownin FIG. 8, plural stages of thresholds may be provided. FIG. 12 is agraph and timing chart showing modification for inhibiting overshoot. Asshown in FIG. 12, for example, the overshoot threshold may be set inplural stages: M_(OH), M_(OM), and M_(OL), and the ignition timings H,M, and L which are respectively controlled in the case where themonitored value M exceeds the overshoot thresholds M_(OH), M_(OM), andM_(OL) may be set in a stepwise manner so that the retard angle amountincreases in the order of M_(OL), M_(OM), and M_(OH).

FIG. 13 is a graph and timing chart showing the initial traction controland the continued traction control in a case where an instantaneous slipoccurs. In a case where the rear wheel 3 slips instantaneously on theroad surface R as shown in FIG. 13, for example, the rear wheel 3 istraveling over a wet manhole, the control process occurs according tothe flowcharts shown in FIGS. 4 to 6, as in the case of the abovedescribed continuous slip shown in FIG. 13. As shown in FIG. 13, whenthe slip of the rear wheel 3 on the road surface R is instantaneous andthe slip quickly stops after the monitored value has reached the firstslip threshold M₁, the motorcycle 1 quickly transitions to a state wherethe monitored value M continues to be smaller than the second slipthreshold M₂, and the continued traction control which is executed afterand continuously with the initial traction control is quicklyterminated.

FIG. 14 is a flowchart of the starting control process of FIG. 4. FIG.15 is a graph and timing chart showing the starting control process. Asshown in FIGS. 14 and 15, in the starting control process, the engineECU 17 determines whether or not the monitored value M exceeds thestarting slip threshold M_(ST) (step S40). Note that the starting slipthreshold M_(ST) is fixed. If it is determined that the monitored valueM exceeds the starting slip threshold M_(ST), the control for reducingthe driving power of the rear wheel 3 is executed (step S41). To bespecific, the ignition retard control for retarding the ignition timingby a predetermined angle amount is executed in such a manner that theignition is stopped during predetermined strokes and the rear wheelbrake 38 is forcibly activated. Whereas in step S41, the sub-throttlevalve opening degree is maintained at the opening degree in the normalcontrol state, it may be controlled to be a fully closed opening degreeas in the configuration of FIG. 8.

Then, the ECU 17 determines whether or not the monitored value M issmaller than a driving power reduction suppression threshold M_(B),i.e., smaller than a brake deactivation threshold M_(B) (step S42). Ifit is determined that the monitored value M is not smaller than thebrake deactivation threshold M_(B), the state where the rear wheel brake38 is activated is maintained. If it is determined that the monitoredvalue M is smaller than the brake deactivation threshold M_(B), thedriving power reduction suppression control is executed (step S43). Tobe specific, the rear wheel brake 38 is deactivated.

Then, the engine ECU 17 determines whether or not the monitored value Mis smaller than a value smaller than the starting slip threshold M_(ST)(step S44). If it is determined that the monitored value M is notsmaller than the starting slip threshold M_(ST), step S44 is repeated.If it is determined that the monitored value M is smaller than thestarting slip threshold M_(ST), the retard angle amount of the ignitiontiming is gradually decreased. That is, ignition timing tailing controlfor gradually putting forward the ignition timing is executed (stepS45). Then, the engine ECU 17 determines whether or not the restorationcondition that the match time when the ignition timing is equal to theignition timing in the normal control state is predetermined restorationdetermination time T1 or longer is satisfied (step S46).

If it is determined that the match time is shorter than thepredetermined restoration determination time T1, the ignition timingtailing control is continued. On the other hand, if it is determinedthat the match time is the predetermined restoration time T1 or longer,the process returns to the normal control process (step S47) and returnsto step S40. If it is determined that the monitored value M does notexceed the starting slip threshold M_(ST), it is determined whether ornot the front wheel vehicle speed V_(F) exceeds the front wheel vehiclespeed threshold V_(T) (step S48). If it is determined that the frontwheel vehicle speed V_(F) does not exceed the front wheel vehicle speedthreshold V_(T), the process returns to step S40. If it is determinedthat the front wheel vehicle speed V_(F) exceeds the front wheel vehiclespeed threshold V_(T), the starting control process is terminated, andthe process returns to the main process of FIG. 4.

Next, the forcible termination control process and the catalystprotection control process will be described. If it is determined thatthe monitored value M exceeds the first slip threshold M₁ in step S5 inFIG. 4, the forcible termination control process (step S8) and thecatalyst protection control process (step S9) are executed concurrentlywith the initial traction control process and the continued tractioncontrol process.

FIG. 16 is a flowchart showing the forcible termination control processof FIG. 4. FIG. 17 is a graph and timing chart showing the forcibletermination control process. As shown in FIGS. 16 and 17, the engine ECU17 determines whether or not the traction control is being executed(step S50). If it is determined that the traction control is not beingexecuted, the forcible termination control process is terminated. If itis determined that the traction control is being executed, it isdetermined whether or not the throttle valve opening degree detected bythe throttle valve position sensor 25 is not larger than the idlingopening degree or a closing threshold TH_(c) which is close to theidling opening degree (step S51). That is, if it is determined that thethrottle valve opening degree is the closing threshold TH_(c) orsmaller, the sub-throttle valve opening degree is returned to the one inthe normal control state (step S52), and the ignition timing tailingcontrol for gradually decreasing the ignition retard angle amount with apredetermined rate and being terminated at the time point when theignition retard angle amount reaches the one in the normal control stateis executed (step S53). That is, if the driver performs the operationfor closing the throttle grip 7, the throttle valve opening degreereaches the idling opening degree and the driving power of the rearwheel 3 is reduced even during the normal control state. Therefore, thetraction control is forcibly terminated.

If it is determined that the throttle valve opening degree is largerthan the closing threshold TH_(c) in step S51, it is determined whetheror not the clutch 27 is in a disengagement state, to be specific, thedriver is squeezing the clutch lever 8 (step S54). If it is determinedthat the driver is not squeezing the clutch lever 8, the process returnsto step S50. If it is determined that the driver is squeezing the clutchlever 8, the process goes to steps S52 and S53, and the traction controlis forcibly terminated. Since the driver is typically not operating theclutch lever 8 during occurrence of a slip, the traction control isforcibly terminated when the clutch lever 8 is operated by the driver,thereby maintaining good drivability. In addition, since the tractioncontrol associated with the engine driving power control is effectivelyperformed in the case where the engine driving power is transmitted tothe drive wheel, the traction control is terminated irrespective of thethrottle valve opening degree when the clutch operation is performed bythe driver to disenable transmission of the driving power. This makes itpossible to avoid that the driving power output is reduced under thestate where the engine E is not subjected to a load from an axle.

FIG. 18 is a flowchart of the catalyst protection control process ofFIG. 4. FIG. 19 is a graph showing the catalyst protection controlprocess. As shown in FIG. 18, initially, it is determined whether or notthe traction control has been terminated (step S60). If it is determinedthat the traction control has not been terminated, it is determinedwhether or not the state where a difference between a moving averagevalue of the ignition timing during the traction control and a movingaverage value of the ignition timing during the normal control under thesame condition is a predetermined value α or larger continues for a timeT2 or longer (step S61). This is because if the integrated value of thedifference in time series reaches a certain value or larger, a burdenapplied to the catalyst for purifying an exhaust gas increases as shownin FIG. 19. Alternatively, in step S61, it may be determined whether ornot the integrated value reaches a predetermined value or larger. Theterm “moving average” refers to a known smoothing method for averagingthe time series data in time.

If it is determined that the state where the difference is thepredetermined value α or larger continues for the set time T2 or longer,it is determined whether or not an average value of the engine speed forthe set time T2 is a first predetermined value β1 or higher (step S62).If it is determined that the engine speed is the first predeterminedvalue β1 or higher, the engine E including n cylinders operates using(n−1) cylinders (step S63), where n is a natural number. That is, if thestate where the ignition timing is retarded by a large angle amount ismaintained when the engine E is driving at a high speed, the resultingexhaust gas imposes a burden on the catalyst provided in an exhaustsystem of the engine E. Therefore, by temporarily pausing the fuelfeeding from the injector 31 to a part of the cylinders, the catalyst isprotected. When the engine speed is expressed as β1, the relationshipformed among α, T2, and β1 is such that the catalyst is subjected to aburden when the state where the difference between the moving averagevalue of the ignition timing during the traction control and the movingaverage value of the ignition timing during the normal control under thesame conditions is the predetermined value α or larger continues for thetime T2 or longer.

Then, it is determined whether or not the engine speed is lower than asecond predetermined value β2 (step S64). The second predetermined valueβ2 is a value smaller than the first predetermined value β1. If it isdetermined that the engine speed is not lower than the predeterminedvalue β2, it is determined whether or not the traction control has beenterminated (step S65). If it is determined that the traction control hasnot been terminated, the process returns to step S64. If it isdetermined that the engine speed is lower than the predetermined valueβ2, the driving returns to n-cylinder driving (step S66), and it isdetermined whether or not the traction control has been terminated (stepS60). If it is determined that the traction control has been terminatedin step S60 or step S65, the catalyst protection control is terminated.As the thresholds of the engine speed, two values which are β1 and β2are used to prevent wrong detection, but only one value may be used.

Whereas it is determined whether or not the state where the differencebetween the moving average value of the ignition timing during thetraction control and the moving average value of the ignition timingduring the normal control under the same condition is a predeterminedvalue α or larger continues for the time T2 or longer in step S61,cylinder operation pause control may be used when the time when theignition timing is retarded continues for a predetermined time orlonger.

The catalyst protection control is not limited to the traction controlusing the first slip threshold M₁ and the second slip threshold M₂ inthis embodiment. That is, the catalyst protection control is applicableto all vehicles using the ignition retard control. For example, thecatalyst protection control is widely applicable to vehicles havinggeneral traction control functions for retarding the ignition timing toreduce the driving power of the drive wheel to restore the drive wheeltraction on the road surface, when a predetermined start condition issatisfied.

FIG. 20 is a flowchart of a switch-OFF control process. The switch-OFFcontrol process is executed when a main electric power supply (notshown) of the motorcycle 1 is in an ON-state. As shown in FIG. 20, it isdetermined whether or not the driver has turned OFF the traction controlON/OFF switch 40 (step S70). The OFF-operation of the traction controlON/OFF switch 40 is a command for inhibiting (nullifying) the tractioncontrol, while the ON-operation is a command for permitting (enabling)the traction control. If it is determined that the driver has turned OFFthe traction control ON/OFF switch 40 (permission command has beeninput), it is determined whether or not the traction control is beingexecuted (step S71). If it is determined that the traction control isnot being executed, the traction control function is set to bedisenabled (step S75). That is, the traction control is set so as not tobe activated even if the monitored value exceeds the first slipthreshold M₁ or the starting slip threshold M_(ST).

On the other hand, if it is determined that the traction control isbeing executed, it is determined whether or not the throttle valveopening degree detected by the throttle valve position sensor 25 is aclosing threshold TH_(c) or smaller (step S72). If it is determined thatthe throttle valve opening degree is larger than the closing thresholdTH_(c), the process returns to step S71. That is, if the tractioncontrol is forcibly terminated in this stage, the driving speedfluctuates because of the transition from the traction control to thenormal control state. Therefore, disenabling the traction controlfunction is deferred. At this time, the traction control unit 47 sends asignal to the display device 49. Receiving the signal, the displaydevice 49 may conduct a display (e.g., blinking of an LED lamp) toenable the driver to know that the disenabling of the traction controlfunction is deferred.

If the second condition is satisfied in the state where disenabling ofthe traction control function is deferred, that is, the throttle valveopening degree is the closing threshold TH_(c) or smaller, it isdetermined that the driving speed will not increase even if the controlstate is returned to the normal control state, and the sub-throttlevalve opening degree is returned to the one in the normal control state(step S73), and the ignition timing tailing control for graduallydecreasing the ignition retard angle amount with a predetermined rateand being terminated at the time point when the ignition retard angleamount reaches the one in the normal control state is executed (stepS74). After the sub-throttle valve opening degree and the ignitiontiming reach the ones in the normal control state, the traction controlis set to be disenabled (step S75). Thereby, the termination of thetraction control is deferred until the throttle grip 7 is closed or thetraction control is spontaneously terminated. As a result, the drivingspeed will not increase.

In a modification of the switch-OFF control process, if the tractioncontrol is being executed in the case where the traction control ON-OFFswitch 40 is turned OFF, the traction control may be terminated and thetraction control function may be set to be disenabled without deferringonly when the second condition is satisfied, for example, when thethrottle valve opening degree detected by the throttle valve positionsensor 25 is the closing threshold TH_(c) or smaller. In an alternativeexample, only when the traction control is not being executed in thecase where the traction control ON-OFF switch 40 is turned OFF, tractioncontrol may be terminated and the traction control function may be setto be disenabled, whereas when the traction control is being executed,the traction command may be nullified and this control may be continued.In a further alternative example, if the traction control is beingexecuted when the traction control ON-OFF switch 40 is turned OFF, thetraction-OFF command is deferred, and the traction control may be set tobe disenabled at the time point when the traction control turns to benon-executed in the state where the command is deferred.

The operation for nullifying the traction control function associatedwith the traction control ON-OFF switch 40 is not limited to that forthe traction control performed using the first slip threshold M₁ and thesecond slip threshold M₂ in this embodiment, but may be widelyapplicable to a general traction control for reducing the driving powerof the drive wheel to restore the drive wheel traction on the roadsurface upon the detection of a slip state of the drive wheel.

In accordance with the configuration as described above, in the caseswhere the monitored value M exceeds the first slip threshold M₁ which isa relatively large value, the initial traction control for reducing thedriving power of the rear wheel 3 by activating the brake, retarding theignition and reducing the air-intake amount is initiated. This makes itpossible to reduce the chance for wrong detection that the rear wheel 3has slipped on the road surface R, even if the monitored value Mincreases for some reasons other than the occurrence of a slip. Inaddition, once the initial traction control starts, the initial tractioncontrol transitions to the continued traction control in which it isdetected whether or not there is a slip based on the second slipthreshold M₂ which is smaller than the first slip threshold M₁, becausein this situation it may be presumed that the motorcycle 1 is likely toslip. This makes it possible to avoid failure to detect a slip and tomaintain the rear wheel 3 traction on the road surface R. As a result,determination accuracy of the slip of the rear wheel 3 on the roadsurface R can be improved.

In a case where a reduction gear ratio of the transmission gear positionof the transmission 14 is lower, a slip may be more likely to occur, andtherefore the first slip threshold M₁ is set smaller than in a casewhere the reduction gear ratio of the transmission gear position ishigher in a case where the reduction gear ratio is lower. This makes itpossible to avoid failure to detect a slip more suitably. In addition,in a case where the driving speed is higher, a slip may be more likelyto occur, and therefore the first slip threshold M₁ is set smaller thanin a case where the driving speed is lower. This makes it possible toavoid failure to detect a slip more suitably. Furthermore, since thefirst slip threshold M₁ is compensated to increase as the vehicle bodytilting angle θ increases in a region where the vehicle body tiltingangle θ is the predetermined angle θ₁ or larger. This makes it possibleto avoid a wrong detection that a slip has occurred in a case where adifference is generated between the rotational speed of the rear wheel 3and the rotational speed of the front wheel 2, for example, due to thefact that the rear wheel 3 has passed over a region outward relative toa region where the front wheel 2 passes, during turn of a curve.

When the termination condition of step S25 of FIG. 6 is satisfied, thesub-throttle valve opening degree is increased gradually so that thedriving power of the rear wheel 3 gradually approaches the one in thenormal control state in which the traction control is not performed.Therefore, the driving power of the rear wheel 3 is not quickly returnedto the one in the normal control state, and as a result, the driver canenjoy good drivability.

Whereas in this embodiment, the ECU 33 for CBS (combined brake system)is used for the control of the rear wheel brake 38, an ECU for ABS maybe used instead of the ECU 33 for CBS in the case of a vehicle includingan ABS (anti-lock brake system). A part of calculation of the tractioncontrol which is performed by the engine ECU 17 may be performed by theECU for CBS/ABS. In a case where the motorcycle 1 does not include theCBS, the front wheel vehicle speed sensor 34 and the rear wheel vehiclespeed sensor 35 may be directly coupled to the engine ECU 17 and thebrake control may not be used in the traction control.

Whereas in this embodiment, the sub-throttle valve 22 is used to controlthe air-intake amount in the traction control, the traction control maybe performed by controlling the opening degree of the main throttlevalve in the case of a motorcycle including an electronic controlthrottle system configured to drive the main throttle valve using anactuator.

In this embodiment, it is determined whether or not to terminate thetraction control based on the condition of step S25 of FIG. 6.Alternatively, the traction control may be terminated when the monitoredvalue M continues to be smaller than the second slip threshold M₂ for apredetermined time in the continued traction control.

The second slip threshold M₂ may be set so as to decrease withdecreasing an accumulated average value of an amount of the drivingpower of the rear wheel 3 during the traction control which decreasesfrom the one in the normal control state in which the traction controlis not performed, for a predetermined time period. To be specific, thesecond slip threshold M₂ may be set to decrease as the accumulatedaverage value of the ignition retard angle amount during the tractioncontrol decreases. Since it may be considered that the rear wheel 3traction on the road surface R is being restored as the accumulatedaverage value of the retard angle amount of the ignition timingdecreases from the one in the normal control state, suppression of aslip is accomplished more suitably by setting the second slip thresholdM2 so that it decreases as the accumulated average value decreases.

Whereas in this embodiment, the ignition retard, reduction of theair-intake amount, and the activation of the brake are used to reducethe driving power of the rear wheel 3, the driving power of the rearwheel 3 may be reduced by pausing ignition of a part of the pluralcylinders of the engine E. Alternatively, the driving power of the rearwheel 3 may be reduced by skipping the number of times of the ignition,i.e., intermittently pausing the ignition for the cylinders of theengine E. Alternatively, the driving power of the rear wheel 3 may bereduced by suitably reducing the fuel fed to the cylinders of the engineE. For example, the driving power of the rear wheel 3 may be reduced bycombining the ignition retard, the ignition pause and the ignitionskipping, only by the ignition retard, or by combining two of theignition retard and the reduction of throttle valve opening degree.

The throttle device 16 is not limited to that of the embodiment, but maybe an electronic control throttle device for electronically controllingthe opening degree of the main throttle valve. In that case, the valueobtained by subtracting an opening degree reduction amount of thesub-throttle valve in this embodiment from the opening degree of themain throttle valve in the normal control state may be used as a commandfor the opening degree of the main throttle valve.

Whereas in this embodiment, the driving power is controlled so that themonitored value M is made closer to the second slip threshold M₂ in thecontinued traction control, this is merely exemplary. For example, afirst operation for gradually increasing the driving power with lapse oftime and a second operation for rapidly reducing the driving power by apredetermined amount when the monitored value M reaches the second slipthreshold M₂ during the first operation for increasing the driving powerare repeated alternately, thereby increasing and reducing the drivingpower in a sawtooth shape as a whole, in a period until the drivingpower at the time point of initiation of the continued traction controlreaches the driving power in the normal control state. Alternatively, afeed-forward control may be used to increase the driving power little bylittle so that the monitored value does not exceed the second slipthreshold M₂.

In this embodiment, the monitored value M is suppressed so as not toexceed the second slip threshold M₂ to achieve stable driving.Alternatively, the motorcycle 1 may drive such that the traction ismaintained while permitting that the monitored value M is smaller thanthe second slip threshold M₂. For example, in a case where the driverdrives the motorcycle 1 on a road surface of a motoring sport facility,the driver may prefer to enjoy driving while somewhat permitting a slip.In such a case, as the second slip threshold M₂ set in the tractioncontrol, a value which is larger than the monitored value with which thedriver can explicitly recognize a slip while maintaining some tractionmay be used. In further alternative, an input unit may be provided toenable the driver to select a variable value or a constant value of thesecond slip threshold M₂ by operating it.

In the switch ON/OFF control process (see FIG. 20) of this embodiment,the command for disenabling the traction control is input only byturning OFF the traction control ON/OFF switch 40. Alternatively, it maybe determined that the command has been input when the switch 40 and theoperation unit other than the switch 40 are operated at the same time.For example, the operation unit other than the switch 40 may be thethrottle grip 7 and the traction control unit 47 may determine that thecommand has been input when the opening degree (operation amount) of thethrottle grip 7, which is detected by the throttle valve position sensor25, is a predetermined value or smaller and the switch 40 is turned OFF.

(Embodiment 2)

FIG. 21 is a flowchart of a switch-OFF control process according toEmbodiment 2 of the present invention. In this embodiment, in theswitch-OFF control process, the termination of the traction control isnot deferred unlike the example shown in FIG. 20. As shown in FIG. 21,it is determined whether or not the driver has turned OFF the tractioncontrol ON/OFF switch 40 (step S80). If it is determined that the driverhas turned OFF the traction control ON/OFF switch 40, it is determinedwhether or not the traction control is being executed (step S81). If itis determined that the traction control is not being executed, thetraction control function is set to be disenabled (step S84).

On the other hand, if it is determined that the traction control isbeing executed, it is determined whether or not the throttle valveopening degree detected by the throttle valve position sensor 25 is aclosing threshold TH_(c) or smaller (step S82). If it is determined thatthe throttle valve opening degree is larger than the closing thresholdTH_(c), it is determined that the driving power will increase and thedriving speed will fluctuate if the control state is returned to thenormal control state. Therefore, the command generated by the driver'sOFF operation is nullified, and the traction control function is set notto be disenabled. On the other hand, if the throttle valve openingdegree is the closing threshold TH_(c) or smaller, it is determinedwhether or not the tilting angle of the vehicle body which is detectedby the tilting angle sensor 32 is smaller than a predetermined value(step S83).

If it is determined that the tilting angle is not smaller than thepredetermined value (tilting angle is the predetermined angle orlarger), the command generated by the driver's OFF operation isnullified, and the traction control function is set not to bedisenabled. On the other hand, if it is determined that the tiltingangle is smaller than the predetermined angle, it is determined that thedrivability will not be affected even if the control state is returnedto the normal control state, and the traction control function is set tobe disenabled (step S84). The traction control being executed isforcibly terminated. In this embodiment, if it is determined as YES instep S83, the traction control is immediately forcibly terminated instep S84. Alternatively, as in step S73 and step S74, the tractioncontrol state may return to the normal control state in such a mannerthat the sub-throttle valve opening degree and the ignition timing aregradually returned to the ones in the normal control state. If it isdetermined as NO in step S82 and step S83, the traction control unit 47may send a signal to the display device 49, which may conduct display(e.g., blinking of the LED lamp, etc.) to notify the driver that thecommand generated by the driver's OFF-operation has been nullified, uponthe reception of the signal.

(Embodiment 3)

FIG. 22 is a flowchart of a switch-OFF control process according toEmbodiment 3 of the present invention. As shown in FIG. 22, it isdetermined whether or not the driver has turned OFF the traction controlON/OFF switch 40 (step S90). If it is determined that the driver hasturned OFF the traction control ON/OFF switch 40, it is determinedwhether or not the traction control is being executed (step S91).

If it is determined that the traction control is not being executed, thetraction control function is set to be disenabled (step S94). On theother hand, if it is determined that the traction control is beingexecuted, the driving power which has been reduced under the tractioncontrol is gradually increased (step S92). To be specific, the ignitiontiming and the sub-throttle valve opening degree which are the firstparameters having been changed under the traction control are madegradually closer to the ones in the normal control state. Then, it isdetermined whether or not a difference between a current value and theone in the normal control state (traction control is not executed) is apredetermined value or smaller, for each of the ignition timing and thesub-throttle valve opening degree (step S93). If it is determined as NOin step S93, step S92 is continued. If it is determined as YES in stepS93, it is determined that the second condition is satisfied assumingthat the drivability will not be affected even if the control state isreturned to the normal control state, and the traction control functionis set to be disenabled (step S94). Since the fuel injection amount ispreset to increase or decrease according to an increase or decrease inthe air-intake amount in this embodiment, the first parameterssubstantially include the fuel injection amount.

(Embodiment 4)

FIG. 23 is a flowchart of an initial traction control process accordingto Embodiment 4 of the present invention. FIG. 24 is a graph and timingchart showing the initial traction control in a case where aninstantaneous slip occurs. FIG. 25 is a graph and timing chart showingthe initial traction control and the continued traction control in acase where a continuous slip occurs. As shown in FIGS. 23 to 25, whenthe monitored value M exceeds the first slip threshold M₁, the initialtraction control is initiated and the time t is counted from the timepoint when the monitored value M exceeds the first slip threshold M₁(step S100). The traction control unit 47 initiates the ignition retardcontrol (step S101), and causes the sub-throttle valve opening degree toreach a fully closed opening degree (step S102), in order to reduce thedriving power of the rear wheel 3.

The ignition retard control in step S101 is an amount-change-basedcontrol for changing the ignition timing in a stepwise manner based onthe magnitude relationship between the monitored value M and pluralthresholds M₁, M_(1a), M_(1b), and M_(1c) (M₁<M_(1a)<M_(1b)<M_(1c)). Theignition retard control (amount-change-based control) is initiated inthe initial traction control just after the initiation of the tractioncontrol. The ignition timing in the ignition retard control iscalculated in the following formula 2.The ignition timing=ignition timing base amount+offset amountα  [Formula 2]

The ignition timing base amount is determined based on the ignitiontiming base amount map 50 of FIG. 26. The ignition timing base amountmap 50 is pre-stored in the traction control unit 47. The ignitiontiming base amount for allowing the ignition to put forward is set tovary according to the engine speed. The ignition timing is expressed asa crank angle. The crank angle is zero when the piston of the engine Ein a combustion stroke is at a top dead center. To be specific, theignition timing base amount is set so as to gradually decrease and thengradually increase as the engine speed increases. In other words, theignition retard angle amount is set so as to gradually increase and thengradually decrease as the engine speed increases. The ignition timingbase amount for allowing the ignition to put forward is set larger in alow engine speed range in order to prevent an engine stall which wouldbe caused by increasing the retard angle to excess. The ignition timingbase amount is set larger in a high engine speed range in order toprevent an event in which the driving speed fluctuates by increasing theretard angle to excess and the drivability is degraded.

The offset amount α is determined based on the magnitude relationshipbetween the monitored value M and thresholds M₁, M_(1a), M_(1b), andM_(1c). To be specific, when the monitored value M is smaller than thethreshold M₁, the offset amount α is a first offset value α₁. When themonitored value M is larger than the threshold M₁ and not larger thanthe threshold M₂, the offset amount α is a second offset value α₂ whichis smaller than the first offset value α₁. When the monitored value M islarger than the threshold M₂ and not larger than the threshold M₃, theoffset amount α is a third offset value α₃ which is smaller than thesecond offset value α₂. When the monitored value M is larger than thethreshold M₃ and not larger than the threshold M₄, the offset amount αis a fourth offset value α₄ which is smaller than the third offset valueα₃. When the monitored value M is larger than the threshold M₄, theoffset amount α is zero (α₁>α₂>α₃>α₄>0). During a time period in whichthe magnitude relationship between the monitored value M and pluralthresholds M₁, M_(1a), M_(1b), and M_(1c) is not varied, the ignitiontiming is controlled to have a constant value.

In accordance with the amount-change-based control as described above,if the monitored value M exceeds the first slip threshold M₁ by a smallamount, then the retard angle amount becomes small. Therefore, thedriving power suppression amount is small and a fluctuation in thedriving speed can be suppressed when the traction control is initiated.In the formula 2, the ignition timing base amount is set as an ignitiontiming minimum value (maximum retard angle value) in the ignition retardcontrol, and then the offset amount α is added to obtain the ignitiontiming. Alternatively, the ignition timing base amount may be set as anignition timing maximum value (minimum retard angle value) in theignition retard control, and then the offset amount α may be subtractedfrom the ignition timing maximum value to obtain the ignition timing.Whereas in this embodiment, the ignition timing is used as the parameterfor the amount-change-based control, the sub-throttle valve openingdegree and the fuel injection amount may be used as the parameters forthe amount-change-based control in the initial traction control. Theignition timing base amount may be changed based on the informationdetected by the throttle valve position sensor 25 or the gear positionsensor 29.

The first slip threshold M₁ is determined based on the threshold map 52shown in FIG. 27. The threshold map 52 is pre-stored in the thresholddeterminer unit 46. The first slip threshold M₁ is set to vary accordingto the front wheel vehicle speed (vehicle body speed) detected by thefront wheel vehicle speed sensor 34 and the transmission gear positiondetected by the gear position sensor 29. When the vehicle body is tilted(banked) to the right or to the left, the motorcycle 1 is driving usinga medium speed range including a power band. Further a characteristic oftire traction is there is a tendency that a difference exists betweenthe rotational speed of the front wheel 2 and the rotational speed ofthe rear wheel 3 and the monitored value M is large, even though no slipoccurs actually. In addition, in the power band of the engine E, therear wheel 3 which is a drive wheel is pressed strongly against the roadsurface and is deformed, making the outer diameter of the rear wheel 3smaller. As a result, the value of (V_(R)−V_(F)) in the formula 1 tendsto be large, that is, the monitored value M tends to be large, eventhough no slip occurs. Accordingly, it is devised so that the tractioncontrol is not initiated when no slip occurs, by setting the first slipthreshold M₁ larger in a condition corresponding to the power band. Asused herein, the term “power band” refers to an engine speed range inwhich the engine is capable of operating most efficiently, and istypically a range between an engine speed at which a maximum torque ofthe engine is generated and an engine speed at which a maximum hosepower is generated.

To be specific, in the threshold map 52, the first slip threshold M₁ isset to gradually increase up to a peak and then gradually decrease asthe front wheel vehicle speed increases in a transmission gear positionwhich is a predetermined value or smaller (e.g., 3rd gear or lower).That is, the first slip threshold M₁ is set so that it is difficult toinitiate the traction control in a medium speed range. This tendency isespecially noticeable in the 1st gear. This is because the peak of thetorque of the engine E is formed in the medium speed range and the valueof (V_(R)−V_(F)) in the formula 1 tends to be large and the monitoredvalue M tends to be large due to the vehicle body banking or the tiredeformation even though no slip occurs.

The threshold map 52 is set so that the front wheel vehicle speedcorresponding to the peak of the first slip threshold M₁ correspondingto a transmission gear position (e.g., 1st gear) of a predeterminedvalue or lower is lower than the front wheel vehicle speed correspondingto the peak of the first slip threshold M₁ corresponding to a 2nd or 3rdgear which is higher than the 1st gear. This is because, in a propertyof the engine E, the vehicle speed at which the torque peak is generatedin the 1st gear which is the lowest gear position is lower than thevehicle speeds at which the torque peaks are generated in the 2nd gearand 3rd gear and the peak of the first slip threshold M₁ is setaccording to the torque peak.

The threshold map 52 is set so that the peak value of the first slipthreshold M₁ corresponding to 1st gear is larger than the peak value ofthe first slip threshold M₁ corresponding to 2nd or higher gear. This isbecause the peak value of the torque corresponding to 1st gear is largerthan the peak values of the torques corresponding to other gearpositions, and the peak of the first slip threshold M₁ is set accordingto the peak value.

The threshold map 52 is set so that in a gear position which is lowerthan a predetermined value (e.g., 5th gear or lower), the first slipthreshold M₁ is larger in a lower gear position than in a higher gearposition in a low-speed range of the front wheel vehicle speed and islarger in a higher gear position than in a lower gear position in ahigh-speed range of the front wheel vehicle speed. This is because thetorque property has a similar tendency and the magnitude of the firstslip threshold M₁ is set so as to correspond to the magnitude of thetorque. In the threshold map 52 of FIG. 27, a horizontal axis indicatesthe front wheel vehicle speed. Alternatively, a horizontal axis mayindicate the engine speed or the driving speed. In that case, also, thefirst slip threshold M₁ may be set to have a similar tendency.

The configuration for changing the start slip threshold M₁ according tothe transmission gear position is not limited to that of the tractioncontrol in this embodiment. This configuration is widely applicable togeneral traction control for reducing the driving power of the drivewheel to restore drive wheel traction on the road surface upon thedetection of a slip of the drive wheel.

Turning back to FIG. 23, after step S101 and step S102, it is determinedwhether or not the monitored value M is smaller than the first slipthreshold M₁ (step S103). If it is determined that the monitored value Mis smaller than the first slip threshold M₁, the time t at this timepoint is a predetermined time T or longer (step S104). That is, thelength of return time t that lapses from when the monitored value Mexceeds the first slip threshold M₁ until the monitored value M becomessmaller than the first slip threshold M₁ is determined. Note that thethreshold for specifying the end point of the return time t may not beequal to the first slip threshold M₁ but a different threshold mayinstead be provided.

The predetermined time T may be set for each transmission gear positiondetected by the gear position sensor 29. For example, the predeterminedtime T corresponding to 2nd gear which is higher than 1st gear may beset shorter than the predetermined time T corresponding to 1st gear. Thepredetermined time T may be individually set for each vehicle speeddetected by the front wheel vehicle speed sensor 34. For example, thepredetermined time T corresponding to the 2nd gear which is higher thanthe 1st gear may be shorter than the predetermined time T correspondingto the 1st gear. Thus, it is determined whether or not to continuetraction control in view of a driving distance corresponding to thereturn time t. Alternatively, the predetermined time T may be setaccording to a driving power property of the engine E during driving.

As shown in FIG. 24, if it is determined that the return time t isshorter than the predetermined time T, it is determined that aninstantaneous slip has occurred because, for example, the motorcycle 1is driving over a wet manhole or a gap of the road surface and thereforetraction control should be terminated. Then, the termination control forthe traction control is performed without transitioning to the continuedtraction control. To be specific, in the termination control, ignitiontiming tailing control for gradually putting forward the ignition timingto allow the control state to smoothly transition to the normal controlstate (step S105) and sub-throttle valve tailing control for graduallyincreasing the sub-throttle valve opening degree to allow the controlstate to smoothly transition to the normal control state (step S106) areperformed. Note that in step S105 and step S106, for example, anincrease rate of the ignition timing and an increase rate of thethrottle valve opening degree per unit time may be changed according toat least one parameter among the vehicle body speed (front wheel vehiclespeed), the transmission gear position and the vehicle body tiltingangle.

The first slip threshold M₁ is made smaller than before within apredetermined set time from when it is determined that the return time tis shorter than the predetermined time T (step S107). That is, the firstslip threshold M₁ within the set time is set smaller than the first slipthreshold M₁ outside the set time. Thus, even if it is determined as NOin step S104 when the slip is not instantaneous, which is a wrongdetermination, the traction control can be easily initiated and thedrive wheel traction on the road surface can be quickly restored.

On the other hand, as shown in FIG. 25, if it is determined that thereturn time t is the predetermined time T or longer, the terminationcontrol is not executed. But instead, it is determined whether or notthe monitored value M is smaller than the second slip threshold M₂ (stepS108). If it is determined that the monitored value M is not smallerthan the second slip threshold M₂, step S108 is repeated. If it isdetermined that the monitored value M is smaller than the second slipthreshold M₂, the initial traction control process is terminated and theprocess returns to the main process of FIG. 4 and transitions to thecontinued traction control (step S7).

In the above embodiment, it is determined whether or not to terminatethe traction control only based on the return time t. The tractioncontrol may be terminated if a driving distance obtained by multiplyingthe return time t by a current vehicle speed is smaller than apredetermined value, whereas the traction control may be continued ifthe driving distance is a predetermined value or larger.

In the continued traction control of this embodiment, a feedback gain inthe ignition timing feedback control changes according to the enginespeed and the throttle valve opening degree. That is, the tractioncontrol unit 47 compensates the feedback gain according to theinformation detected by the engine speed sensor 30 and the throttlevalve position sensor 25. To be specific, an ignition timing feedbackgain G is calculated based on a formula 3 illustrated below. G₀indicates a gain base amount, C_(rpm) indicates an engine speedcompensation coefficient, and C_(th) indicates a throttle compensationcoefficient.G=G ₀ ·C _(rpm) ·C _(th)   [Formula 3]

The gain base amount G₀ is determined according to the deviation betweenthe monitored value M and the second slip threshold M₂ (target value)and set so that an absolute value of a change rate of the ignitiontiming per unit time increases as the deviation increases. The throttlecompensation coefficient C_(th) is set so as to increase as the throttlevalve opening degree increases. The feedback gain G changes according tothe driver's operation of the throttle grip 7. The engine speedcompensation coefficient C_(rpm) is suitably set according to the engineproperty.

(Embodiment 5)

FIG. 28 is a graph and timing chart of the forcible termination controlprocess in a state where the engine speed is low according to Embodiment5 of the present invention. FIG. 29 is a graph and timing chart of theforcible termination control process in a state where the engine speedis high according to Embodiment 5 of the present invention. In thisembodiment, a method of returning the ignition timing to the one in thenormal control state by the forcible termination control is madedifferent according to the engine speed. That is, in this embodiment,step S53 is different from step S53 in FIG. 16. The initial tractioncontrol and the continued traction control are similar to those ofEmbodiment 4.

As shown in FIG. 28, when the engine speed is a low engine speed lowerthan a predetermined value, tailing control for gradually puttingforward the ignition timing with lapse of time is executed as theforcible termination control if it is determined that the throttle valveopening degree detected by the throttle valve position sensor 25 is theclosing threshold TH_(c) or smaller when the traction control is beingexecuted. In this case, an increase rate of a put-forward angle amountof the ignition timing per unit time is set larger than an increase ratein the example shown in FIG. 29 at which the engine speed is apredetermined value or higher.

Then, overrun control is executed in such a manner that the ignitiontiming continues to be put forward up to one which is forward relativeto the one in the normal control state after the ignition timing hasreturned to the one in the normal control state by the tailing control,then the ignition timing is returned to the one in the normal controlstate and the traction control is terminated. In the overrun control,the ignition timing is caused to be retarded gradually with lapse oftime when returning the ignition timing from the value which is forwardrelative to the value of the ignition timing in the normal control stateto one in the normal control state. In this manner, when the enginespeed is low, the tailing control and the overrun control are used toquickly increase the driving power, thereby preventing occurrence of theengine stall.

On the other hand, as shown in FIG. 29, in a case where the engine speedis a high engine speed which is a predetermined value or higher, onlythe tailing control is used without using the overrun control, for theignition timing. Since the increase rate of the put-forward angle amountof the ignition timing per unit time in this case is set smaller thanthat shown in FIG. 28 in the case where the engine speed is lower than apredetermined value, a fluctuation in the driving speed is suppressedand good drivability is maintained.

(Embodiment 6)

FIG. 30 is a flowchart of an initial traction control process accordingto Embodiment 6 of the present invention. FIG. 31 is a flowchart of acontinued traction control process according to Embodiment 6 of thepresent invention. FIG. 32 is a graph and timing chart showing thecontrol processes shown in FIGS. 30 and 31. In this embodiment, thesub-throttle valve opening degree is positively controlled in thetraction control. As shown in FIGS. 30 and 32, in the initial tractioncontrol, the ignition retard control is executed to reduce the drivingpower (step S110). The ignition retard control is similar to that instep S101 of Embodiment 4. Simultaneously, the air-intake amount controlis executed to reduce the driving power (step S111).

The air-intake amount control has the same principle as that of theignition retard control in step S101 of Embodiment 4 and is theamount-change-based control for changing the throttle valve openingdegree in a stepwise manner based on the magnitude relationship betweenthe monitored value M and plural thresholds M₁, M_(1a), M_(1b), andM_(1c). In this case, the sub-throttle valve opening degree determinedbased on the magnitude relationship between the monitored value M andthe thresholds M₁, M_(1a), M_(1b), and M_(1c) may be set to be variedaccording to the engine speed, the main throttle valve opening degree,the transmission gear position, the front wheel vehicle speed, etc. Forexample, the sub-throttle valve opening degree may be increased when theengine speed, the main throttle valve opening degree, the transmissiongear position and the front wheel vehicle speed are increased, therebysuppressing a fluctuation in the speed during high-speed driving.

Then, it is determined whether or not the monitored value M is smallerthan the first slip threshold (step S112). If it is determined that themonitored value M is not smaller than the first slip threshold, stepS112 is repeated and the ignition retard control (step S110) and theair-intake amount control (step S111) are continued. When it isdetermined that monitored value M becomes smaller than the first slipthreshold, the ignition retard control is terminated (step S113). At thetermination of the ignition retard control, the tailing control forgradually putting forward the ignition timing to the one in the normalcontrol state is executed. Then, it is determined whether or not themonitored value M is smaller than the second slip threshold M₂ (stepS114). If it is determined that the monitored value M is not smallerthan the second slip threshold M₂, step S114 is repeated. If it isdetermined that the monitored value M becomes smaller than the secondslip threshold M₂, the initial traction control process is terminatedand transitions to the continued traction control.

As shown in FIG. 31, in the continued traction control, the feedbackcontrol of the sub-throttle valve opening degree is executed. To bespecific, initially, the sub-throttle valve opening degree is increasedup to one close to the opening degree in the normal control state (stepS120). Then, it is determined whether or not the monitored value Mexceeds the second slip threshold M₂ (step S121). If it is determinedthat the monitored value M exceeds the second slip threshold M₂, thesub-throttle valve opening degree is decreased (step S122) and theprocess returns to step S121.

If it is determined that the monitored value M does not exceed thesecond slip threshold M₂, it is determined whether or not thesub-throttle valve opening degree is larger than the opening degree inthe substantially normal control state (step S123). If it is determinedthat the sub-throttle valve opening degree is not larger than theopening degree in the substantially normal control state, the processreturns to step S120 and the sub-throttle valve opening degree isincreased toward the one in the normal control state. If it isdetermined that the sub-throttle valve opening degree is larger than theopening degree in the normal control state, then the process returns tothe main process (see FIG. 4) and thus the traction control isterminated (step S124).

In accordance with the above, since the ignition retard with highresponsiveness is performed in the initial traction control just afterthe traction control is initiated, the driving power can be reducedquickly. In addition, in the continued traction control, the drivingpower is reduced by the air-intake amount control without the ignitionretard. This makes it possible to reduce a burden placed in the catalystprovided in the exhaust system, and to suppress reduction of fuelefficiency.

FIG. 33 is a three-dimensional map used for determining the second slipthreshold. In the above embodiments, the second slip threshold M₂ usedin the continued traction control is constant but may be variedaccording to the situation. To be specific, as shown in FIG. 33, athree-dimensional threshold map 54 in which the second slip threshold M₂is varied according to the front wheel vehicle speed (vehicle bodyspeed) detected by the front wheel vehicle speed sensor 34 and thethrottle valve opening degree detected by the throttle valve openingdegree 25 is pre-stored in the threshold determiner unit 46 (see FIG.3).

The three-dimensional threshold map 54 has a region in which the secondslip threshold M₂ is set to gradually increase as the front wheelvehicle speed increases in a throttle valve opening degree which issmaller than a predetermined throttle valve opening degree (e.g., 50deg). To be specific, the second slip threshold M₂ increases as thefront wheel vehicle speed increases when the front wheel vehicle speedis in a low-speed range (e.g., 0 to 30 km/h), the second slip thresholdM₂ is substantially constant as the front wheel vehicle speed increaseswhen the front wheel vehicle speed is in a medium-speed range (e.g., 30to 140 km/h), and the second slip threshold M₂ increases as the frontwheel vehicle speed increases when the front wheel vehicle speed is in ahigh-speed range (e.g., 140 km/h or higher). The second slip thresholdM₂ increases as the front wheel vehicle speed increases when the frontwheel vehicle speed is in a low-speed range with a predeterminedthrottle valve opening degree (e.g., 50 deg) or larger, while the secondslip threshold M₂ is substantially constant as the front wheel vehiclespeed increases when the front wheel vehicle speed is in amedium-to-high speed range (e.g., 30 km/h or higher).

In the three-dimensional threshold map 54, the second slip threshold M₂is set smaller than a predetermined value (e.g., 3%) irrespective of thethrottle valve opening degree when the front wheel vehicle speed is in alow-speed range which is lower than a predetermined value (e.g., 30km/h). This enables easier traction of the rear wheel 3 (drive wheel) onthe road surface when the motorcycle 1 is driving at a low-speed,thereby achieving smooth starting. Furthermore, the three-dimensionalthreshold map 54 has a region in which the second slip threshold M₂ isset to gradually increase as the throttle valve opening degree increasesin a predetermined front wheel vehicle speed range (e.g., 30 km/h orhigher). To be specific, the second slip threshold M₂ is substantiallyconstant when the throttle valve opening degree is in a smaller openingdegree range (e.g., smaller than 35 deg), while the second slipthreshold M₂ increases as the throttle valve opening degree increases inan intermediate opening degree range (e.g., 35 to 55 deg), and thethrottle valve opening degree is substantially constant in a highopening degree range (e.g., 55 deg or larger). The reason why the secondslip threshold M₂ is caused to increase as the throttle valve openingdegree increases is that the throttle valve opening degree detected bythe throttle valve position sensor 25 is associated with the driver'sthrottle grip operation which is performed according to the driver'sintention.

FIG. 34 is an ignition timing lower limit value map used for determiningthe lower limit value of the ignition timing. In the above describedembodiments, the control for retarding the ignition timing which is aparameter corresponding to the engine driving power is used. As shown inFIG. 34, a lower limit value map 56 for determining a retard angle limit(lower limit value) of the ignition timing may be pre-stored in thetraction control unit 47. In the lower limit value map 56, the ignitiontiming lower limit value is set so as to gradually decrease so as toretard the ignition and then gradually increase so as to put forward theignition as the engine speed increases. The reason why the ignitiontiming lower limit value is larger in the region where the engine speedis low is to prevent an engine stall which would be caused by an eventin which the ignition retard angle amount increases and the drivingpower is reduced to excess. The reason why the ignition timing lowerlimit value is larger in the region where the engine speed is high is toprevent an event in which the ignition retard angle amount increases toexcess and the driving speed fluctuates, degrading the drivability whenthe traction control is initiated.

The lower limit value map 56 may be applied to all vehicles so long asthey use the ignition retard control. Whereas the lower limit value map56 shown in FIG. 34 relates to the ignition timing, a lower limit valuemap of other parameters (e.g., throttle valve opening degree or a fuelfeed amount) corresponding to the engine driving power may be used.

The present invention is applicable to general vehicles. For example,the present invention may be used with relatively light vehicles such asstraddle-type vehicles, or with off-road vehicles which frequently driveover an off-road surface on which a slip is likely to occur. The drivingpower suppression amount at the initiation of the traction control maybe changed based on a driving state just before the traction control isinitiated. For example, the throttle valve target opening degree at theinitiation of the traction control may be changed based on at least oneof the throttle valve opening degree, the vehicle speed, and the enginespeed of the vehicle. The driving power suppression amount may bereduced when at least one of the throttle valve opening degree and thevehicle speed is smaller than a predetermined set value when at leastone of them is larger than the set value. To be specific, the amount ofreduction of the throttle valve opening degree is lessened in high-speeddriving than in low-speed driving. As a result, a fluctuation shock atthe initiation of the traction control can be lessened during high-speeddriving.

As this invention may be embodied in several forms without departingfrom the spirit of essential characteristics thereof, the presentembodiment is therefore illustrative and not restrictive, since thescope of the invention is defined by the appended claims rather than bythe description preceding them, and all changes that fall within metesand bounds of the claims, or equivalence of such metes and boundsthereof are therefore intended to be embraced by the claims.

1. A slip suppression control system for a vehicle comprising: amonitored value detecting device for detecting a monitored valuecorresponding to a difference between a rotational speed of a frontwheel of the vehicle and a rotational speed of a rear wheel of thevehicle; a threshold determiner unit configured to determine arelationship between the monitored value detected by the monitored valuedetecting device and a threshold; and a controller configured toinitiate traction control for reducing a driving power of a drive wheelwhen the threshold determiner unit determines that the monitored valueexceeds a predetermined start threshold; wherein the thresholddeterminer unit is configured to count a return time which lapses fromwhen the monitored value exceeds the start threshold until the monitoredvalue becomes smaller than a second threshold; wherein the controller isconfigured to determine whether or not to terminate the traction controlbased on the return time; and wherein the controller is configured tocontinue the traction control when the return time is a predeterminedtime or longer and to execute termination control for terminating thetraction control when the return time is shorter than the predeterminedtime.
 2. The slip suppression control system for a vehicle according toclaim 1, wherein the controller is configured to execute the terminationcontrol such that the driving power is gradually increased with lapse oftime to be returned to the driving power in a state where the tractioncontrol is not executed and then the traction control is terminated. 3.The slip suppression control system for a vehicle according to claim 1,wherein the controller is configured to execute the termination controlbased on at least one of a vehicle speed, a gear position of atransmission, and a tilting angle of a vehicle body.
 4. The slipsuppression control system for a vehicle according to claim 1, whereinthe threshold determiner unit is configured to set a start thresholdwithin a predetermined set time after it is determined that the tractioncontrol should be terminated to a value smaller than the start thresholdat a time other than the set time.
 5. The slip suppression controlsystem for a vehicle according to claim 1, wherein the second thresholdis substantially equal to the start threshold.
 6. The slip suppressioncontrol system for a vehicle according to claim 1, wherein the tractioncontrol includes a feedback control of the driving power based ondetermination result of the threshold determiner unit.
 7. The slipsuppression control system for a vehicle according to claim 1, furthercomprising: a gear position sensor configured to detect a transmissiongear position of a transmission; wherein the threshold determiner unitis configured to set the predetermined time for each transmission gearposition detected by the gear position sensor.
 8. The slip suppressioncontrol system for a vehicle according to claim 1, further comprising: avehicle speed sensor configured to detect a vehicle body speed; whereinthe threshold determiner unit is configured to set a predetermined timefor each vehicle body speed detected by the vehicle speed sensor.
 9. Theslip suppression control system for a vehicle according to claim 1,further comprising: a vehicle speed sensor configured to detect avehicle body speed; and a gear position sensor configured to detect atransmission gear position of a transmission; wherein the thresholddeterminer unit is configured to change the start threshold according toinformation detected by the vehicle speed sensor and the gear positionsensor.
 10. The slip suppression control system for a vehicle accordingto claim 9, wherein the threshold determiner unit contains a thresholdmap used for determining the start threshold according to the vehiclebody speed and the transmission gear position; and wherein the thresholdmap is set so that the start threshold gradually increases up to a peakand then gradually decreases as the vehicle body speed increases. 11.The slip suppression control system for a vehicle according to claim 10,wherein the threshold map is set so that a vehicle body speed forming apeak in a predetermined first transmission gear position is lower than avehicle body speed forming a peak in a transmission gear position higherthan the first transmission gear position.
 12. The slip suppressioncontrol system for a vehicle according to claim 10, wherein thethreshold map is set so that a peak value of the start thresholdcorresponding to a first gear of the transmission gear position islarger than a peak value of the start threshold corresponding to anothertransmission gear position.
 13. The slip suppression control system fora vehicle according to claim 10, wherein an engine driving power is setfor each transmission gear position; and wherein in the threshold map, avehicle body speed forming the peak is set for each transmission gearposition and is equal to or close to a vehicle body speed at which theengine driving power has a maximum value.
 14. The slip suppressioncontrol system for a vehicle according to claim 9, wherein the thresholddeterminer unit contains a threshold map used for determining the startthreshold according to the vehicle body speed and the transmission gearposition; and wherein the threshold map is set so that the startthreshold is larger in a lower transmission gear position than in ahigher transmission gear position in a predetermined first vehicle speedrange, while the start threshold is larger in a higher transmission gearposition than in a lower transmission gear position in a vehicle speedrange higher than the first vehicle speed range.
 15. The slipsuppression control system for a vehicle according to claim 9, furthercomprising: a tilting angle sensor configured to detect a tilting angleof a vehicle body in a rightward and leftward direction with respect toa driving direction; wherein the threshold determiner unit is configuredto change the start threshold according to information detected by thetilting angle sensor.
 16. The slip suppression control system for avehicle according to claim 1, wherein the threshold determiner unit isconfigured not to change the start threshold when the vehicle speeddetected by a vehicle speed sensor is a predetermined value or smallerand to change the start threshold when the vehicle body speed exceedsthe predetermined value.
 17. The slip suppression control system for avehicle according to claim 1, wherein the threshold determiner unit isconfigured to set the predetermined time based on a driving state.